"His Royal Highness The Duke of Edinburgh left King Edward VII's Hospital at midday today, following a hip replacement operation last week".
Prince Philip has been discharged from hospital, just over a week after he had a hip replacement.
He had been admitted to the private hospital on 3 April for the planned surgery, with the operation taking place the following day.
The palace says in a statement Friday that he will continue his recovery at Windsor Castle.
At the time of the operation Buckingham Palace said the surgery to replace the joint had been a success and Philip was "comfortable and in good spirits".
Queen Elizabeth II has not been photographed visiting her husband at the hospital. He is progressing satisfactorily at this early stage.
Prince Philip, 96, was photographed leaving the facility. Daughter Princess Anne was the only member of the family seen visiting the royal patriarch in hospital.
Philip's surgery came after he was forced to skip the Royal Maundy Service at Leicester Cathedral last month because of his crippling hip pain.
On Thursday Princess Anne visited her father and told reporters that the Duke was on "good form", and he appeared to smile as he was driven home shortly after noon.
Prince Philip announced his retirement in May 2017 and said that he will no longer be taking part in official royal engagements in 2018.
"The duke was keen to attend but made this decision because he was experiencing some trouble with his hip".
Unlike US, Russia does not change regimes - Russian embassy
Family of four displaced after Chesapeake house fire
Zuckerberg: Regulation 'inevitable' for social media firms
Police investigate death of 7-month-old Kansas girl
Tornado watch issued for Denton County
Seahawks Sign Kicker Sebastian Janikowski
Accuser Tells Jury Bill Cosby is a "Serial Rapist"
Soul Calibur 6 producer praises the Witcher series in new
Syria and Allies Ready for War If Trump Attacks, Official Says
Zhiwei Zhang on How China Could Respond to US Tariffs
Pep Guardiola: Manchester City could still blow Premier League title
Huey Lewis and the News concert cancelled at Stampede
Oklahoma teacher walkout ends
Colombian President Santos Ratifies Military Choice to Ecuador
Nice day on tap in Orlando, but severe weather possible this weekend
Secret 2K Studio Working on Next Bioshock
Criminals can claim 'right to be forgotten' following landmark Google case